Class PlaneVoxelGrid<TLayerPlane>

A grid of voxels that is used to find planes of a specific orientation. Planes can be found in each individual layer of the grid based on the density of points in each voxel.

Inheritance

Object

PlaneVoxelGrid<TLayerPlane>

PlaneDiscoveryVoxelGrid

PlaneExtractionVoxelGrid

Namespace: Unity.MARS

Syntax

public abstract class PlaneVoxelGrid<TLayerPlane>
    where TLayerPlane : LayerPlaneData

Type Parameters

Name	Description
TLayerPlane

Constructors

PlaneVoxelGrid(VoxelGridOrientation, Bounds, Single, VoxelPlaneFindingParams)

Constructs an oriented voxel grid of a given size

Declaration

protected PlaneVoxelGrid(VoxelGridOrientation orientation, Bounds containedBounds, float voxelSize, VoxelPlaneFindingParams planeFindingParams)

Parameters

Type	Name	Description
VoxelGridOrientation	orientation	Determines how the grid is divided into layers from which planes can be found
Bounds	containedBounds	The grid will be just large enough to contain these bounds
Single	voxelSize	Side length of each voxel
VoxelPlaneFindingParams	planeFindingParams	Parameters used to find planes

Fields

k_PlaneYEpsilon

A small local y offset applied to a plane to avoid z-fighting with the mesh it was extracted from

Declaration

protected const float k_PlaneYEpsilon = 0.001F

Field Value

Type	Description
Single

k_Up

Declaration

protected static readonly Vector3 k_Up

Field Value

Type	Description
Vector3

m_Layers

Declaration

protected readonly int m_Layers

Field Value

Type	Description
Int32

m_MinSideLength

Declaration

protected readonly float m_MinSideLength

Field Value

Type	Description
Single

m_ModifiedPlanesPerLayer

Declaration

protected readonly List<List<TLayerPlane>> m_ModifiedPlanesPerLayer

Field Value

Type	Description
List<List<TLayerPlane>>

m_PlanesPerLayer

Declaration

protected readonly List<List<TLayerPlane>> m_PlanesPerLayer

Field Value

Type	Description
List<List<TLayerPlane>>

m_RemovedPlanesPerLayer

Declaration

protected readonly List<List<TLayerPlane>> m_RemovedPlanesPerLayer

Field Value

Type	Description
List<List<TLayerPlane>>

m_UpdatedVoxelsPerLayer

Declaration

protected readonly List<HashSet<Vector2Int>> m_UpdatedVoxelsPerLayer

Field Value

Type	Description
List<HashSet<Vector2Int>>

m_VoxelSize

Declaration

protected readonly float m_VoxelSize

Field Value

Type	Description
Single

Properties

CheckEmptyAreaForInitialPlanes

Declaration

protected abstract bool CheckEmptyAreaForInitialPlanes { get; }

Property Value

Type	Description
Boolean

Methods

AddPoints(List<Vector3>)

Declaration

public void AddPoints(List<Vector3> points)

Parameters

Type	Name	Description
List<Vector3>	points

CreateLayerPlane(PlaneVoxel)

Declaration

protected abstract TLayerPlane CreateLayerPlane(PlaneVoxel startingVoxel)

Parameters

Type	Name	Description
PlaneVoxel	startingVoxel

Returns

Type	Description
TLayerPlane

FindPlanes()

Declaration

protected void FindPlanes()

GetLayerOriginPose(Int32)

Declaration

protected Pose GetLayerOriginPose(int layerIndex)

Parameters

Type	Name	Description
Int32	layerIndex

Returns

Type	Description
Pose

GetVoxel(Int32, Int32, Int32)

Declaration

protected PlaneVoxel GetVoxel(int layer, int column, int row)

Parameters

Type	Name	Description
Int32	layer
Int32	column
Int32	row

Returns

Type	Description
PlaneVoxel

GetVoxel(Vector3Int)

Declaration

protected PlaneVoxel GetVoxel(Vector3Int coordinates)

Parameters

Type	Name	Description
Vector3Int	coordinates

Returns

Type	Description
PlaneVoxel

TryGetPlaneData(LayerPlaneData, Pose, List<Vector3>, out Pose, out Vector3, out Vector2)

Declaration

protected bool TryGetPlaneData(LayerPlaneData layerPlane, Pose layerOriginPose, List<Vector3> vertices, out Pose pose, out Vector3 center, out Vector2 extents)

Parameters

Type	Name	Description
LayerPlaneData	layerPlane
Pose	layerOriginPose
List<Vector3>	vertices
Pose	pose
Vector3	center
Vector2	extents

Returns

Type	Description
Boolean

TryMergePlanes(TLayerPlane, TLayerPlane, Single, Single)

Declaration

protected virtual bool TryMergePlanes(TLayerPlane planeA, TLayerPlane planeB, float planeAHeight, float planeBHeight)

Parameters

Type	Name	Description
TLayerPlane	planeA
TLayerPlane	planeB
Single	planeAHeight
Single	planeBHeight

Returns

Type	Description
Boolean